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target throttle in percentage [0, 100]
target brake in percentage [0, 100]
target non-directional steering rate, in percentage of full scale per second [0, 100]
target steering angle, in percentage of full scale [-100, 100]
parking brake engage. true: engaged
target speed, in m/s
target acceleration in m`s^-2
model reset
engine on/off, true: engine on
completion percentage of trajectory planned in last cycle
deprecated fields
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configs from gflags
original config
0 - manual; 1 - auto_drive; 2 - speed_only; 3 - steer_only
0: stop, at first should stop, then receive pad msg to start
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m/s
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simple optimal steer control param
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sample time (dt) 0.01 now, configurable
preview window n, preview time = preview window * ts
N/rad
converge threshold for lqr solver
matrix_q size = 4 + preview_window
matrix_q size = 4 + preview_window for reverse gear
cutoff frequency
window size of mean filter
for a normal car, it should be in range[16, 18]
maximum iteration for lqr solve
limit aggressive steering
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controller param
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longitudinal controller sampling time
low/high speed controller switch speed
model predictive control param
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sample time (dt) 0.01 sec, configurable
corner stiffness front: N/rad
corner stiffness rear: N/rad
mass forward left
mass forward right
mass rear left
mass rear right
converge threshold
output variable (control state) weight matrix (lateral_error, lateral_error_rate, heading_error, heading_error_rate, station_error, speed_error)
manipulated variable weight matrix (steer, acceleration)
cutoff frequency
window size of mean filter
for a normal car, it should be in range[16, 18]
maximum iteration for lqr solve
limit aggressive steering
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control mode, set mode according to low level definition
send driving mode to drive
action in the driving_mode
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time derivative of lateral error rate, in m/s^2
second time derivative of lateral error rate, in m/s^3
heading_acceleration, as known as yaw acceleration, is the time derivative of heading rate, in rad/s^2
heading_jerk, as known as yaw jerk, is the second time derivative of heading rate, in rad/s^3
modified lateral_error and heading_error with look-ahead or look-back station, as the feedback term for control usage
current planning target point
Augmented feedback control term in addition to LQR control
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matrix_q_updated_ size = 6
matrix_r_updated_ size = 2
time derivative of lateral error rate, in m/s^2
second time derivative of lateral error rate, in m/s^3
heading_acceleration, as known as yaw acceleration, is the time derivative of heading rate, in rad/s^2
heading_jerk, as known as yaw jerk, is the second time derivative of heading rate, in rad/s^3
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